Representation of a particular planning context – the planning scene and the request are known, solution is not yet computed. More...
#include <planning_interface.h>
Public Member Functions | |
| virtual void | clear ()=0 |
| Clear the data structures used by the planner. More... | |
| const std::string & | getGroupName () const |
| Get the name of the group this planning context is for. More... | |
| const MotionPlanRequest & | getMotionPlanRequest () const |
| Get the motion plan request associated to this planning context. More... | |
| const std::string & | getName () const |
| Get the name of this planning context. More... | |
| const planning_scene::PlanningSceneConstPtr & | getPlanningScene () const |
| Get the planning scene associated to this planning context. More... | |
| PlanningContext (const std::string &name, const std::string &group) | |
| Construct a planning context named name for the group group. More... | |
| void | setMotionPlanRequest (const MotionPlanRequest &request) |
| Set the planning request for this context. More... | |
| void | setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene) |
| Set the planning scene for this context. More... | |
| virtual bool | solve (MotionPlanDetailedResponse &res)=0 |
| Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that. More... | |
| virtual bool | solve (MotionPlanResponse &res)=0 |
| Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that. More... | |
| virtual bool | terminate ()=0 |
| If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true). More... | |
| virtual | ~PlanningContext () |
Protected Attributes | |
| std::string | group_ |
| The group (as in the SRDF) this planning context is for. More... | |
| std::string | name_ |
| The name of this planning context. More... | |
| planning_scene::PlanningSceneConstPtr | planning_scene_ |
| The planning scene for this context. More... | |
| MotionPlanRequest | request_ |
| The planning request for this context. More... | |
Detailed Description
Representation of a particular planning context – the planning scene and the request are known, solution is not yet computed.
Definition at line 80 of file planning_interface.h.
Constructor & Destructor Documentation
◆ PlanningContext()
| planning_interface::PlanningContext::PlanningContext | ( | const std::string & | name, |
| const std::string & | group | ||
| ) |
Construct a planning context named name for the group group.
Definition at line 91 of file planning_interface.cpp.
◆ ~PlanningContext()
|
virtual |
Definition at line 98 of file planning_interface.cpp.
Member Function Documentation
◆ clear()
|
pure virtual |
Clear the data structures used by the planner.
Implemented in PlanningContextStub.
◆ getGroupName()
|
inline |
Get the name of the group this planning context is for.
Definition at line 89 of file planning_interface.h.
◆ getMotionPlanRequest()
|
inline |
Get the motion plan request associated to this planning context.
Definition at line 107 of file planning_interface.h.
◆ getName()
|
inline |
Get the name of this planning context.
Definition at line 95 of file planning_interface.h.
◆ getPlanningScene()
|
inline |
Get the planning scene associated to this planning context.
Definition at line 101 of file planning_interface.h.
◆ setMotionPlanRequest()
| void planning_interface::PlanningContext::setMotionPlanRequest | ( | const MotionPlanRequest & | request | ) |
Set the planning request for this context.
Definition at line 110 of file planning_interface.cpp.
◆ setPlanningScene()
| void planning_interface::PlanningContext::setPlanningScene | ( | const planning_scene::PlanningSceneConstPtr & | planning_scene | ) |
Set the planning scene for this context.
Definition at line 105 of file planning_interface.cpp.
◆ solve() [1/2]
|
pure virtual |
Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.
Implemented in PlanningContextStub.
◆ solve() [2/2]
|
pure virtual |
Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.
Implemented in PlanningContextStub.
◆ terminate()
|
pure virtual |
If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).
Implemented in PlanningContextStub.
Member Data Documentation
◆ group_
|
protected |
The group (as in the SRDF) this planning context is for.
Definition at line 138 of file planning_interface.h.
◆ name_
|
protected |
The name of this planning context.
Definition at line 135 of file planning_interface.h.
◆ planning_scene_
|
protected |
The planning scene for this context.
Definition at line 141 of file planning_interface.h.
◆ request_
|
protected |
The planning request for this context.
Definition at line 144 of file planning_interface.h.
The documentation for this class was generated from the following files: